DE102006009559B3 - Gripper device in form of artificial hand, has two fingers attached at frame and is formed like hinge and can bend in area around finger in assigned movement plane - Google Patents

Abstract

Gripper device has two fingers attached at frame (6) and is formed like hinge and can bend in the area around the finger (1,2,3) in the assigned movement plane. Along the actuating bendable fingers, tensile and compressive forces are transferred. Oblong formed activators with two activator ends are provided. The activator ends are connected with finger tip area of the finger, facing the frame and the other ends of activator are connected with the actuator (5) and the connections are made as one-piece connection. An independent claim is also included for the application of the gripper device.

Description

technical area

The The invention relates to a gripper device in the manner of a artificial Hand with at least two fingers attached to a frame, from which at least one finger along an assignable to the finger movement plane by means of an actuator from an elongated to a curved finger position, with the finger in one piece is formed and has a longitudinal extent, along the at least one area is provided around which the finger in the associated movement plane is curvable.

was standing of the technique

Gripper devices in the manner of an artificial one Hand are formed, at least two, preferably three, four or five fingers whose mobility is that of human fingers at least is roughly modeled, represent research and development priorities in a variety currently working in this field Project groups. The main focus of those groups is on the Realization of possible flexibly usable gripper systems, which by their functionality, the gripping properties to imitate a human hand more or less abstracted capital. On the one hand lie the main applications of such gripper devices in the field of medical prosthetics and their application as a substitute of natural extremities in a man, there are aspirations, as it were Implement gripper devices as gripping tools on robotic systems. Indifferent, whether the development focuses in the area of human or robot technology Applications lie, it is hardly possible to use the technological Development work and its results in the field of such To separate gripper devices, especially as the requirements for Flexibility, the durability and the weight of such gripper devices very similar are. Many of the previously developed robotic hands, as they usually also called be, as well as for artificial prosthetic for human use Hands are each of a variety of highly complex and fine mechanical trained Assembled assemblies, the complexity of the variety of movement possibilities and the functionalities of individual gripping finger depends.

Basically to determine the known gripper systems that their sensitivity towards external mechanical influences increases the higher the degree of functionality is coupled with the demand for a miniaturized and as possible thereby highly complex structure formation. Is it the one hand in the Apply a gripper system as a prosthesis to make sure that man as possible fatigue On the other hand, it is desirable to deal with the prosthesis robotic hands with as possible train low system weights and associated as possible to cause low mass inertias as possible to achieve high handling speeds. Furthermore It also applies for cost and space reasons, the robot drives and to design the drives for gripper activation as small as possible and with reduced weight. Added to this is the demand for the longest possible service life the gripper device used as a prosthesis or as a robot hand, especially in both cases high continuous loads are to be expected. Furthermore, there are usage-related Wear, the to malfunctions or deterioration in the respective gripper devices to lead can, ruled out especially gripping tasks with given accuracy during and after a long time Use must be carried out with consistent quality.

Finally it stands a widespread brand introduction in many known gripper devices by their high complexity and the consequent high production costs of the price. So is to be assumed that, in particular in the field of prosthetics far more patients could be treated with dentures if they would be more economically affordable.

The Price is decisive in addition to the aforementioned miniaturization and the consequent high complexity of the gripper devices also the individual adaptation of the gripper devices to the corresponding ones Pickup or carrying components. Thus, in the case of the prostheses, an individual adaptation to the prosthesis is required respective extremity end part, a request for the wearing comfort is an indispensable requirement. Same situation Also prevails in the field of robot hands, especially as flange structures and connection dimensions for Manipulatorendarmen of robot systems from different manufacturers, so that in this area adapters are required, which is mostly executed as a separate component are.

applies it also robotic hands by several orders of magnitude scale larger, for example, on structurally identical but more powerful robot systems to adapt, so must now the entire assembly was reworked by a complex new design be, especially the solution principles Fine mechanical assemblies on a larger scale often by other solution principles are feasible. something similar applies to prosthetics.

Finally the currently available gripper devices with a considerable installation effort of mostly well-trained Personnel mounted and accordingly function tested. For the market introduction of such Products is also the preparation of a technical documentation and installation instructions required, so that also conditional more for the manufacturer are not inconsiderable costs.

From the pamphlets US 5 568 957 A such as DE 601 06 363 T2 each finger-like actuators are removable, in which the fingers can be transferred from an elongated to a curved finger position by pressurizing therein fluid chambers. In both cases, individual functional elements are connected to each other by means of a mounting.

presentation the invention

Of the The invention is therefore based on the object, a gripper device in the manner of an artificial one Hand with at least two fingers attached to a frame, from which at least one finger along an assignable to the finger movement plane by means of an actuator from an elongated to a curved finger position, with the finger in one piece is formed and a longitudinal extension has, longitudinally the at least one area is provided around which the finger in the movement plane assigned to it can be bent in such a way that that the above-mentioned disadvantages with regard to stability, weight, Durability, manufacturing price, patient individual or robotic systems individual adaptation, scalability and ultimately installation effort to be improved.

The solution the object underlying the invention is specified in claim 1. The concept of the invention advantageously further-forming features Subject of the dependent claims as well as the further description with reference to the embodiments refer to.

Solution is a Gripper device in the manner of an artificial hand with at least two, preferably three or more, attached to a frame Fingers, of which at least one finger along a finger assignable Movement plane by means of an actuator from an elongated in a curved one Finger position is transferable, wherein the finger in one piece is formed and a longitudinal extension has, longitudinally the at least one area is provided around which the finger in the movement plane associated with it is bendable, designed in such a way that that the finger in the at least one area around which the finger in its associated movement plane is curved, formed like an articulation is. Along of the at least one actorisch curable finger is a train and compressive forces, elongated trained actuator provided with two actuator ends, of which an actuator end with the frame opposite Fingertip area of the finger and the other end of the actuator in one piece with the actuator are connected.

Under the term "one piece" is a seamless one cohere to understand the individual components, not necessarily but according to current production possibilities consist of one and the same material. This is how classic is Production process of castings or injection molding, with which it is possible mostly from plastic materials manufacture existing injection molded parts.

In particularly advantageous manner are suitable for one-piece production the finger, the actuator and the connected to the actuator Actors so-called generative manufacturing processes, which layer by layer Allow building of three-dimensional objects, directly from one three-dimensional data set, preferably in the form of CAD data, can be made.

Preferably are all Components of the inventive gripper device, So next to the associated with corresponding actuators fingers and also the fingers connecting with the actuators the frame to which the fingers are attached by means of a generative manufacturing process, preferably by means of rapid prototyping, can be produced. By applying generative Manufacturing process for the solution trained Gripper device offers enormous creative freedom, especially no consideration on final draft, Undercuts and constant wall thicknesses of the individual component components must be taken. So it is possible in the design of the individual components a targeted variation the component wall thicknesses and in this way high strength as well as elastic Provide areas in the individual component components immediately. Thus, the at least one curvable within a plane of movement fingers at least one, formed as a film hinge pivoting or bending area before, around the respective finger around a perpendicular to the movement plane the finger-oriented pivot axis is curvature or pivotable. For as possible Lifelike imitation of human finger motor skills are three along the Finger longitudinal extension provided, each formed as a film hinges pivot areas intended. To replicate the thumb, however, are only two film joints provided.

to controlled curvature Each finger is an elongated in the area of the fingertip Actuator firmly attached, which in turn band or baudenzugartig formed and loose by longitudinal the finger provided guide openings runs in the finger root area, and in one piece is connected to an actuator which the actuator relative to Fingers in the longitudinal direction to move, so as to stretch his finger as well also controlled to bend.

Of the one piece per finger actuator connected to the actuator has one with a hydraulic or pneumatic fluid fillable Volume up, depending on the level along one structurally given linear axis expand as well as contract can. In a preferred embodiment, the actuator For this purpose, a bellows-like trained element, the immediate or indirectly with a fingertip area opposite One-piece end of the control element connected is. The connection between actuator and actuator takes place preferably such that a fluid-driven expansion of the bellows trained element is used to over the actuator on the fingertip area acting, oriented in the direction of the actuator To generate traction, which makes the finger out of a stretched Finger pose in a curved Finger attitude is transferred. If, however, the volume enclosed by the actuator is emptied of the fluid, for example by controlled application of negative pressure, so the bellows-shaped element contracts, which ultimately causes the actuating means in the direction of the fingertip area is advanced and the finger is transferred to an elongated position. The one for this required restoring force is formed in the simplest case by the bellows Element inherent elastic material recovery generated, can However, in an advantageous development by providing a, an additional Restoring force generating element, preferably in the form of a spring element, additional supports become. Also, the spring element is preferably within the generative Manufacturing process in one piece Training made with the actuator, as the other versions with reference to a specific embodiment.

Next the actor assisted Curvature and Stretching at least one finger along one of the one Finger assignable movement plane provides an advantageous embodiment an additional possibility of movement at least one of the trained according to the solution Gripper device provided fingers orthogonal to the two-dimensional Movement level in which the respective finger between an elongated and a curved one Finger position is deflectable. Such a lateral pivoting a finger corresponds approximately to the lateral pivoting of a human Thumb, a form of exercise that uses an extra in the area of the finger of the fingers can be realized to be provided drive means. Like the actor training for kinematic control of the above-described control element also sees the drive means to be provided laterally on the finger bellows-shaped element which encloses a volume, the at least one opening with a hydraulic or pneumatic medium can be filled and when filling with along the medium a predetermined by the bellows-like design of the element Extend linear axis and in emptying the element in opposite Direction along can contract the linear axis. For effective introduction of force on the laterally deflected fingers, it is the bellows trained element one-sided spatial to fix and the deflectable other end of the element to connect with the finger to be moved laterally. To the lateral deflectability to allow the finger it applies this to a corresponding, a lateral deflection enabling to attach elastically formed connecting structure, the Finger with the stable trained frame connects. more details for the structural design of the solution according to the invention gripper device the further description with reference to the embodiments refer to.

The according to the invention gripper device has at least two attached to a frame finger, the each in one piece with a respective finger to be bent actuator and a actuator to be deflected actuator are connected. Of the The term "one piece" should, as in the beginning already mentioned the uniform training of the individual components from one coherent, jointless workpiece describe, preferably by manufacturing under a generative manufacturing processes without further assembly requirements can be produced. As preferred generative manufacturing process stand The following manufacturing processes are available: Rapid prototyping by means of photolithographic process, photopolymerization by layer by layer Harden from a liquid bath, Layer by layer application and solidification of powder layers, layer by layer Discharging a binder in a powder composite, energy beam deposition method in metal powder as well as plastic extruder technology (FDM, Fused Deposition Modeling).

Depending on the structural design of the gripper device, which in a preferred embodiment, three pivoting or individually controllable provides curvable finger, which are hinged to a common frame structure, which serves as the individual actuators for support and also provides an individual, adapted to the particular application connection contour, the use is preferably possible as a human prosthesis or robotic hand and can be quickly and easily without any assembly effort to the respective patient or to the respective asked technical task directly on the basis of a CAD data set in which all structural details for the design of the inventive gripper device are included adapt.

By the preferred method of production by means of generative manufacturing processes can the total cost of the design and manufacture of such gripper devices compared with market conditions Prostheses and robotic hands very inexpensive being held. Also lets In addition, by appropriate scaling factors the constructive Scale the gripper device infinitely variable so that an arbitrarily scaled, weight-optimized gripper system can be produced is.

Especially In the field of generative manufacturing processes are development directions recognizable, with which it should be possible in the future, one-piece objects produce partially varying materials, so that elastic and less elastic material areas regardless of the geometry shape and wall thickness of the respective area can be produced. A corresponding use of such possibilities is to further improve the function of the solution according trained gripper device contribute, for example, over more Mobility and features can have.

Short description the invention

The Invention will be described below without limiting the general inventive concept of exemplary embodiments described by way of example with reference to the drawings. It demonstrate:

1a , b gripper overall representation from different perspective angles,

2 Finger in side view and perspective view,

3a , b Actuator in longitudinal section and in perspective side view,

4a , b perspective finger representation with laterally mounted drive means, and

5 schematically illustrated frame construction.

Ways to execute the Invention, industrial applicability

In the 1a and b shows a preferred embodiment of a gripper arrangement designed according to the invention from different angles of view. The following description refers to both fields at the same time. The gripper device has three fingers 1 . 2 . 3 on, of which the fingers 1 and 2 dreigelenkig and the finger 3 only zweigelenkig, comparable to a human thumb, are formed. In principle, the gripper device can be subdivided into four or five different subassemblies, which, like the other embodiments, will show, are all connected in one piece and can be produced by way of a single generative manufacturing process, preferably a rapid prototyping process.

The first assembly is the fingers 1 . 2 . 3 , The second assembly consists of each of the finger-bending control elements 4 , which in turn each with an actuator corresponding to the third assembly 5 are connected. The fourth assembly is the frame 6 View all the space-fixed components, which will be discussed in detail, are connected. The frame 6 points one's fingers 1 to 3 opposite area 7 on which a connection structure (not shown) for a robot flange or for application to a region of a human limb is to be provided.

As a possible fifth assembly is in addition to the actuators 5 another drive 8th provided, the lateral deflection of the finger 3 serves, as well as the other fingers in each case by the structural design and orientation relative to the frame 6 in a two-dimensional plane of motion, in the context of the explanation of the 2 Is referred to, bendable. For example, this extends to the finger 2 assignable movement plane according to the image representation in 1a perpendicular to the drawing plane, with the finger 2 in a curved position would project vertically above the plane of the drawing.

All three fingers 1 . 2 . 3 are spatially distributed evenly around an annular support area 9 in the upper part of the frame 6 arranged. To take a to be taken, not shown object, it is necessary to bring the fingers in their extended position, the in 1 represented situation corresponds. For this purpose, the actuating means 4 every single finger 1 . 2 . 3 placed in a so-called extended position through which each individual finger is stretched. This movement mechanism is with reference to the representations in the 2a and b will be explained in more detail. The in 2 illustrated finger corresponds to the basic structure of in 1 illustrated fingers 1 and. It is assumed that the finger is made of a uniform material, for example of a bendable, elastic plastic material. According to the replica of a human finger, the artificial finger has three joint areas 10 . 11 . 12 each provide thin-walled and bridge-like spanning material areas, which due to the inherent elasticity or flexibility, a local bending in the direction of the concave-sided recesses 10 ' . 11 ' . 12 ' enable. Such structurally formed locally acting material elasticities are also referred to as film hinges and serve a purposeful reversible deformation of bodies. Due to the structural design of the designated as film hinges local elasticity ranges 10 . 11 . 12 whose individual joint axes are oriented parallel to each other and in the illustrated embodiment according to 2a The plane perpendicular to the plane of the drawing lies at a corresponding curvature of the finger around the respective film hinges 10 . 11 . 12 achievable curvature movement in a two-dimensional plane of motion, as shown in FIG 2a corresponds to the drawing level.

To bend the finger in a controlled manner is the fingertip area 13 with the upper end of an elongated actuator 4 . 14 firmly connected, the band or rod-shaped, is able to transmit tensile and compressive or shear forces in its longitudinal direction and is otherwise designed to be flexible transversely to the longitudinal extent. In the embodiment according to 2 is the control element 14 belt-shaped and has an inherent elasticity perpendicular to the in 2 B apparent band surface. Furthermore, the band-shaped actuating element protrudes 14 loose between the film hinge areas 10 . 11 . 12 arranged guide openings 15 and is in the further, how not in 2 represented connected to an actuator whose operation and structure will be described below. Basically, the actuator is capable of actuating the actuator 14 in the longitudinal direction (see arrow representations) to move. If it is necessary to bend the finger, the actuator is pulled down u, whereby the fingertip area 13 connected to the upper end of the actuator 14 is firmly connected, is also moved down. As a result, the finger learns at its articular joint-like joint areas 10 . 11 . 12 one in the direction of its concave recesses 10 ' . 11 ' . 12 ' directed curvature. If, however, the actuator 14 pushed back up o, the finger is in its extended position as shown in 2 transferred. From the curvature kinematics described above arises causally the requirement that the respective fingers 1 . 2 . 3 , by means of the control element 14 can be curved, are arranged relative to this space fixed. For this purpose, the respective lower areas of the fingers 1 . 2 . 3 via appropriate recording contours 16 . 16 ' (see also 1a , b) with the frame 6 connected.

For purely constructive reasons, the shape of the band-shaped actuating means 14 below a respective finger in a circular connection structure 17 via, which is referred to below as a tendon element and in one piece with an upper housing part 18 of in 3a and b illustrated actuator 5 connected is. 3a shows a stylized longitudinal section and 3b a perspective view of the actuator 5 , Also in this case, the further description refers to both 3a and b at the same time. As so-called heart of the actor 5 is a bellows-shaped element 19 provided with a flexurally elastic wall, which according to longitudinal section in 3a provides a wavy trained wall course, enclosing an inner volume. The bellows-shaped element 19 sees a first end section 20 ago, which seals the inner volume gas-tight on one side. The the first end section 20 along the longitudinal extent of the bellows-shaped element 19 opposite second end portion 21 on the other hand has an opening 22 by a supply line, not shown, a hydraulic or pneumatic medium in the volume of the bellows-shaped element 19 can be fed or emptied from this. Depending on the degree of filling of the bellows-shaped element 19 with a medium, the element can 19 along its longitudinal extent, that in the 3a drawn linear axis A corresponds to expand or contract accordingly, whereby the end portions 20 and 21 be spaced far apart from each other. This controlled longitudinal mobility of the bellows-shaped element 19 is used with the tendon element 17 connected actuator 14 to deflect in the manner described above for the purpose of performing a controlled finger curvature or finger extension. Here is the first end section 20 room-safe with the frame 6 connected - see the parenthesized reference numerals 20 in 1a , b -, leaving the rest in 3 shown actuator components relative to the fixed space end portion 20 to move according to their own degree of freedom.

The opposite the first, fixed space end portion 20 along the linear axis A movably formed second end portion 21 the bellows-shaped element 19 is with the already introduced and referenced housing part 18 connected, which, like 3 entnehm bar, in its longitudinal axis to the axis A axially oriented longitudinal extent the first end portion 20 surmounted and, as already mentioned in one piece in the tendon element 17 passes. For purposes of exact linear guided relative movement between the second end portion 21 including the associated housing part 18 and the fixed first end portion 20 protrudes through the housing part 18 , the web-like part of the bellows-shaped element 19 is formed radially encompassing, the spatially fixed first end portion 20 , the corresponding passage openings 23 provides.

With these design specifications, the operation of the actuator 5 Be developed in an evident way, especially a filling of the bellows-shaped element 19 with a medium to an extent of the element 19 along the linear axis A relative to the fixed first end portion 20 down u takes place, reducing the tendon element 17 and the associated actuator 14 over the housing part 18 also pulled down. The force that acts on an object to be grasped during the process of bending over the individual finger can be metered and adjusted to almost any desired size, especially since it ultimately depends on the filling pressure with which the medium flows into the bellows-shaped element 19 is fed. The same applies to the speed with which the individual fingers are transferred into the curved posture. If, on the other hand, it is appropriate to transfer the individual fingers, which can each be driven by a separately designed actuator, from the curved position into the elongate position, then the force and the speed, with so-called single-acting control, with which the finger movement takes place, ultimately depend on the intrinsic elastic restoring force of the wavy formed wall material of the bellows-shaped element 19 from. A revitalization of a finger caused solely by the intrinsic elasticity of the bellows-shaped element may be too slow and too inefficient in some applications, so that for this purpose advantageously an additional force-generating element in the form of a spring element 24 is provided. The spring element 24 is fixed on one side with the bellows-shaped element 19 opposite side of the first end portion 20 connected and thus able with appropriate compression against the first end portion 20 support. The opposite end of the spring element 24 is with a cover plate 25 connected, the radial edge in the peripheral locking lugs 26 provides. Furthermore, at the in 3 apparent inner wall of the housing part 18 support means 27 provided, against which the cover plate 25 by means of the locking lugs provided on it 26 after appropriate partial compression of the spring element 24 can be locked. In such a position, not in 3 is shown by the spring element 24 a biasing force on the housing part 18 introduced, which ultimately the bellows-shaped element 19 to compress or along the linear axis A is able to contract. The by the spring element 24 Provided bias thus serves a faster return of the bellows-shaped element 19 in a contracted state after appropriate emptying of the medium through the opening 22 ,

It should again be emphasized here that all the components described hitherto are produced integrally, preferably in the context of a generative production method, preferably by means of a rapid prototyping method. However, because current technologies make it impossible to produce a preloaded spring, the spring element becomes 24 together with a correspondingly designed lid cap 25 manufactured in the relaxed state, so that it requires a single subsequent assembly step, the cover plate 25 to spend in the pre-stressed position.

Looking in the light of the above, the in 1a and b illustrated overall view of the gripper device so it is clear that every single finger 1 . 2 . 3 by own actors 5 is individually controllable. Of course, this requires a controlled supply of bellows-shaped elements 19 every single actor 5 with a corresponding medium, which will not be discussed further at this point, especially since the provision of the medium can be made with known control and regulation techniques. Serve the identically formed fingers 1 and 2 For example, as a pointing and ring finger of a human hand, especially since they each provide three movable joint areas, see the film joints 10 . 11 . 12 according to 2 so serves the training of the finger 3 which has only two joint areas in equivalence to the human hand, the thumb. Basically, the controlled curvature of the thumb occurs 3 in an identical way to the curvature of the in 2 represented finger, so that in the following on a repeated repetition of the curvature kinematics with reference to the in 4a and b thumb shown in detail is omitted. Furthermore, the only about two joint areas bendable or curvable thumb differs 3 from the three articulated fingers 1 and 2 by the provision of a further drive means 30 by which the thumb is able to make a lateral pivoting movement. The thumb 3 is not in with the 4 illustrated frame 6 via an elastically deformable connecting means, preferably wise in the form and training of a film hinge joint 31 connected to the in 4b allows pivoting indicated by arrow view. The drive means 30 is like the actor 5 designed as a bellows-shaped element which encloses a volume, via an opening and a supply line connected thereto 32 is filled with a medium, and when filled with the medium along the bellows by the formation of the element 30 specified linear axis A expand and emptying the element 30 in the opposite direction along the linear axis A is able to contract. To give you a thumbs up 3 It is necessary to let the end section act on the thumb to be deflected laterally 33 of the drive means 30 that of the thumb 3 spaced apart, to fix spatially. This can either be via a rigid training of the supply line 32 done rigidly with the no further in 4 illustrated frame 6 connected, or with a direct connection of the end portion 33 with a corresponding retaining web of the frame 6 , Will in this case the drive means 30 filled with a medium, so acts one side on the thumb 3 directed force, the thumb 3 around the film joint hinge 31 can deflect laterally. As a result, the inclusion of an object by temporary enlargement of the respective lateral distance of the finger 1 to the thumb 3 be relieved. Likewise, thereby a more flexible grasping of an object by means of only two fingers, ie for example with the finger 1 and the thumb 3 possible. A lateral return of the thumb 3 done by appropriate emptying of the drive means 30 and the self-elastic restoring force of the drive means acting thereby 30 , in so-called single-acting controls, underlying bellows-shaped element.

In 5 is a preferred embodiment for the design of the frame 6 represented, via corresponding receiving openings 34 for the actors 5 has and corresponding support structures 16 for picking up the fingers 1 to 3 , Basically, the design of the frame applies 6 a minimum possible weight and a maximum of rigidity or strength, so that the functionality of the gripper device described above can be ensured. In the area below 35 of the frame 6 In the case of an artificial hand designed as a prosthesis, a patient-individual connection is to be provided or, in the case of a robot hand, a corresponding connection flange.

1, 2, 3

Finger, thumb

4

actuator

5

actuator

6

frame

7

connecting structure

8th

drive means

9

fixing ring

10 11, 12

Joint area, film hinge

10 ', 11', 12 '

konkarv, open area

13

Fingertip area

14

actuator

15

Through opening

16

support structure

17

tendons element

18

housing part

19

bellows trained element

20

first end

21

second end

22

opening

23

execution

24

spring element

25

cover plate

26

locking lugs

27

support means

28 29

Joint area, film hinge

30

drive means

31

connecting means

32

supply

33

end

34

Through openings

35

end

Claims (19)

Gripping device in the manner of an artificial hand with at least two on a frame ( 6 ) attached fingers ( 1 . 2 . 3 ), of which at least one finger ( 1 . 2 . 3 ) along a finger ( 1 . 2 . 3 ) assignable movement level by means of an actuator ( 5 ) is transferable from an elongated to a curved finger position, wherein the finger ( 1 . 2 . 3 ) is integrally formed and has a longitudinal extent along which at least one area ( 10 . 11 . 12 ) is provided to the finger ( 1 . 2 . 3 ) is bendable in its associated movement plane, characterized in that the at least one area ( 10 . 11 . 12 ) to the finger ( 1 . 2 . 3 ) is bendable in its associated movement plane, is articulated, that along the at least one actorisch curvable finger ( 1 . 2 . 3 ) a tensile and compressive forces transmitting, elongated actuator ( 4 . 14 ) is provided with two actuator ends, of which an actuator end with a the frame ( 6 ) opposite fingertip area ( 13 ) of the finger ( 1 . 2 . 3 ) and the other end of the actuator with the actuator ( 5 ) are integrally connected. Gripper device according to claim 1, characterized in that the actuator ( 5 ) a bellows-shaped element ( 19 ), which encloses a volume, which via at least one opening ( 22 ) can be filled with a medium and when filled with the medium along a through the bellows-like formation of the element ( 19 ) extended linear axis and when emptying the element ( 19 ) can contract in the opposite direction along the linear axis, and that the actuator ( 4 . 14 ) directly or indirectly through a tendon element ( 17 ) in one piece with the bellows-shaped element ( 19 ) connected is. Gripper device according to claim 2, characterized in that the actuator ( 5 ) at least one spring element ( 24 ) provided with the bellows-shaped element ( 19 ) is operatively connected in such a way that when filling the bellows-shaped element ( 19 ) with a medium the spring element ( 24 ) is tensionable and can be relaxed when emptied. Gripper device according to claim 2 or 3, characterized in that the volume of the bellows-shaped element ( 19 ) is enclosed by a flexurally elastic wall which has a wavy wall path in a longitudinal section and one opposite to the spatial direction along which the bellows-shaped element (FIG. 19 ) expands, having restoring spring force. Gripper device according to claim 4, characterized in that the bellows-shaped element ( 19 ) two end sections opposite each other along the linear axis ( 20 . 21 ), of which the first end portion ( 20 ) with the frame ( 6 ) and the second end section ( 21 ) relative to the frame ( 6 ) is mounted movably at least along the linear axis. Gripper device according to claim 5, characterized in that the second end portion ( 21 ) with a housing part ( 18 ), which is integral with the actuator ( 4 . 14 ) passes over. Gripper device according to claim 6, characterized in that the housing part ( 18 ) the first end section ( 20 ) in the longitudinal direction of the bellows-shaped element ( 19 ) surmounted, and that on the housing part ( 18 ) a support means ( 27 ) is provided between the and the first end portion ( 20 ) the spring element ( 24 ) is clamped. Gripper device according to claim 7, characterized in that the spring element ( 24 ) with the first end portion ( 20 ) is integrally connected and one opposite the support means ( 24 ) has loose spring element end, which against the support means ( 24 ) is tensionable. Gripper device according to one of claims 5 to 8, characterized in that in the region of the first and / or second end portion ( 20 . 21 ) the at least one opening ( 22 ) is provided, through which the volume can be filled with the medium. Gripper device according to one of claims 1 to 9, characterized in that the at least one articulated region ( 10 . 11 . 12 ) is designed as a film hinge. Gripper device according to one of claims 1 to 10, characterized in that at least one finger ( 3 ) via an elastically deformable connecting means ( 31 ) with the frame ( 6 ), through which the finger ( 3 ) is pivotable about a predeterminable spatial axis, and that at least one drive means ( 8th . 30 ) on the finger ( 3 ) by which the finger ( 3 ) is pivotable about the predetermined spatial axis. Gripper device according to claim 11, characterized in that the connecting means ( 31 ) is designed as a film hinge joint. Gripper device according to claim 11 or 12, characterized in that the drive means ( 8th . 30 ) is formed as a bellows-shaped element which encloses a volume, which via at least one opening and a supply line ( 32 ) can be filled with a medium and expand when filled with the medium along a given by the bellows-like design of the element linear axis and contract when emptying the element in the opposite direction along the linear axis, and that the bellows-shaped element two along the linear axis opposite End portions, of which the first end portion connected to the frame and the second end portion relative to the frame ( 6 ) at least along the linear axis movably mounted and with the finger ( 3 ) enters into operative connection. Gripper device according to claim 13, characterized in that the at least one finger ( 3 ) in the movement plane attributable to it aktorisch curvable, as well as is pivotable about the predetermined spatial axis, and that the plane of movement and the spatial axis an angle α ≠ 0 °, preferably α = 90 ° include. Gripper device according to one of claims 1 to 14, characterized in that the frame ( 6 ), which has at least two fingers ( 1 . 2 . 3 ) as well as the fingers ( 1 . 2 . 3 ) associated actuators ( 5 ) as part of a generative manufacturing process are made. Gripper device according to one of claims 1 to 15, characterized in that all the components of the gripper device made in one piece are. Gripper device according to one of claims 1 to 16 characterized in that the gripper device to be manufactured according to shape and size as a CAD dataset which is a generative manufacturing process in one of The following type can be supplied as a production parameter: - Rapid Prototyping by photolithographic method - Photopolymerization by layered hardening from a liquid bath - Layer by layer Application and solidification of powder coatings - Layer by layer Discharging a binder into a powder composite - Energy beam deposition method in metal powder - Plastic extruder technology (FDM, Fused Deposition Modeling). Use of the gripper device according to one of claims 1 to 17, as a robot gripper on a manipulator arm of a robot unit or as a human prosthesis as a hand replacement. Use according to claim 18, characterized in that the frame ( 6 ) has a connecting contour for the purpose of adaptation to the Manipulatorendarm a robot unit or to a human arm stump.